Active Home Chris Atkeson

HERB: Year 4 Progress A major emphasis was interface prototyping and ethnographic studies, collaborating with HSI and PST. Development of the HERB robot system focused on handling constraints, uncertainty, incorporating better sensing, and using the sensing more effectively, collaborating with MOMAT and PAT. These developments are being integrated in the next experimental platform for autonomous assistive robots, HERB2.0:

HERB: Interfaces and Users Best Paper Award at the 2010 International Conference on Human-Robot Interaction: Gracefully Mitigating Breakdowns in Robotic Services, Min Kyung Lee, Sara Kiesler, Jodi Forlizzi, Siddhartha Srinivasa, & Paul Rybski. This paper explored how to reduce the impact of HERB’s and other robot’s errors by managing expectations and appropriately responding to errors. Prototype Interfaces and Usage Scenerios:

HERB: More Effective Sensing New sensor: Laser scanner Improved vision: Handle more clutter Use error information to improve self-knowledge Handle unknown objects

More slides if you need them

Recognizing objects in clutter

Using New Sensors

Grasping in unknown clutter

Learning from mistakes

HERB 2.0

Reorganization Qoltbots Active Home Home and Community Health & Wellness

Qoltbots Appliances Mobile Manipulators Orthoses Prostheses Exoskeletons (new faculty: Geyer (RI) Collins (ME)) Special Purpose Robots Personal Mobility And Manipulation

HERB 1.0: Home Exploring Robotic Butler

Comparable Systems HERB Intel/CMU El-E GA Tech STAIR Stanford UMan UMass PR2 Willow STAIR: Core2Duo SFF Core2Duo Laptop 2xCore2Duo WS Core2 Quad server + 15Core2Quad (offline training)‏

Usage Scenarios

Usage Scenarios

Prototype Interfaces